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With a domain like a rectangle or a cube the boundaries are normal to the Cartesian coordinate axes so it will suffice to impose a DirichletBC on the appropriate component of your vector. For the boundary x=0 the normal is n=ex so u.n = ux where u = (ux,uy,uz).
Here is some example code for a cube with three free-slip boundary conditions along the planes x=0, y=0, and z=0: